\chapter{InterSense InertiaCube3}
\label{AppendixGyro}

\begin{figure}[htbp]
  \centering
    \includegraphics{./Primitives/inertiacube3.png}
    \rule{35em}{0.5pt}
  \caption[InterSense InertiaCube3]{InterSense InertiaCube3}
\end{figure}

\begin{itemize}
	\item Degrees of Freedom: 3 (Yaw, Pitch and Roll) 
	\item Angular Range Full: 360$^\circ$ - All Axes 
	\item Maximum Angular Rate: 1200$^\circ$ per second 
	\item Minimum Angular Rate: 0$^\circ$ per second 
	\item RMS Accuracy: 1° in yaw, 0.25$^\circ$ in pitch and roll at 25 $^\circ$C 
	\item RMS Angular Resolution: 0.03$^\circ$
	\item Serial Interface Update Rate: 180 Hz
	\item Minimum Latency: 2 ms for RS-232 (PC host OS dependent) 
	\item Prediction: up to 50 ms 
	\item Serial Rate: 115.2 kbaud 
	\item Interface: RS-232 Serial (shown above) 
	\item Size: (without mounting plate) 1.031 in x 1.544 in x 0.581 in (26.2 mm x 39.2 mm x 14.8 mm) 
	\item Weight: 0.6 ounces (17.0 g) 
	\item Cable Length: 15 ft. (4.572 m) - Max. 75 ft (22.86 m) 
	\item Power: 6 VDC, 40 ma 
	\item Operating Temperature Range: 0 to 70 $^\circ$C 
\end{itemize}
